Systems and methods for detecting soil characteristics

ABSTRACT

A soil detection and planting apparatus. The apparatus includes a vehicle and a controller coupled to the vehicle. The apparatus further includes a planting device coupled to the vehicle, the planting device configured to plant seeds or plants into a soil material. The apparatus includes a ground penetrating radar sensor coupled to the vehicle. The ground penetrating radar soil sensor is configured to scan the soil material up to a designated depth beneath a surface of the soil material, wherein the ground penetrating radar soil sensor is further configured to provide a sensor feedback signal to the controller with respect to an intrinsic characteristic of the soil material. The controller is configured to instruct placement of a seed or a plant into the soil material based on the feedback signal.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application is a continuation of application Ser. No. 14/983,105,filed Dec. 29, 2015, which is a continuation of application Ser. No.14/468,547, filed Aug. 26, 2014 (now U.S. Pat. No. 9,265,192), which isa continuation of application Ser. No. 13/898,298, filed May 20, 2013(now U.S. Pat. No. 8,849,523), the entire disclosures of which areincorporated herein by reference.

BACKGROUND

Agricultural growing operations operate efficiently when, among otherthings, seeds are planted in soil having optimal soil characteristicsand the seeds are provided optimal amounts water and nutrients. Soilcharacteristics (e.g., soil composition, soil density, nutrientpresence, humus presence, etc.) vary from location to location, bothglobally (e.g., from geographic region to geographic region) and locally(e.g., from spot to spot within a single area of land). Further, thepresence of soil moisture from natural sources or from man-madeirrigation systems, varies from location to location.

Generally, a single agricultural growing operation involves planting aspecific type of seed according to a set pattern over many acres of land(e.g., planting a field of corn in rows). Soil characteristics willoften vary over the area of land used for the agricultural growingoperation. Despite the variances in soil characteristics, seeds aregenerally planted in the same manner across the entire area of land usedfor growing operation. Further, many agricultural growing operationsutilize man made delivery systems for water, nutrients, fertilizers,and/or other chemicals and soil additives. The delivery systems areburied or placed on the surface of the soil. The delivery systems are atrisk of being damaged or destroyed as agricultural equipment disturbsthe soil to plants seeds, harvests crops, and tills soil material.

SUMMARY

One exemplary embodiment relates to a soil detection and plantingapparatus. The apparatus includes a vehicle and a controller coupled tothe vehicle. The apparatus further includes a planting device coupled tothe vehicle, the planting device configured to plant seeds or plantsinto a soil material. The apparatus includes a ground penetrating radarsensor coupled to the vehicle. The ground penetrating radar soil sensoris configured to scan the soil material up to a designated depth beneatha surface of the soil material, wherein the ground penetrating radarsoil sensor is further configured to provide a sensor feedback signal tothe controller with respect to an intrinsic characteristic of the soilmaterial. The controller is configured to instruct placement of a seedor a plant into the soil material based on the feedback signal.

Another exemplary embodiment relates to a soil detection apparatus. Theapparatus includes a housing coupled to a ground-driven vehicle. Theapparatus further includes a controller coupled to the housing. Theapparatus includes a ground penetrating radar soil sensor coupled to thehousing. The ground penetrating radar soil sensor is configured to scana soil material up to a designated depth beneath a surface of the soilmaterial, wherein the ground penetrating radar soil sensor is furtherconfigured to provide a sensor feedback signal to the controller withrespect to an intrinsic characteristic of the soil material. Theapparatus further includes a location sensor coupled to the housing. Thelocation sensor is configured to provide a location feedback signal tothe controller. The controller is configured to create a map of the soilmaterial based on the sensor feedback signal and the location feedbacksignal.

Yet another exemplary embodiment relates to an air-based soil detectionapparatus. The apparatus includes an aircraft and a controller coupledto the aircraft. The apparatus further includes a soil sensor coupled tothe aircraft. The soil sensor is configured to scan a soil material upto a designated depth beneath a surface of the soil material to locateat least a portion of an irrigation system contained within the soilmaterial or on a surface of the soil material, wherein the soil sensoris further configured to provide a sensor feedback signal relating tothe detected portion of the irrigation system to the controller. Theapparatus includes a location sensor coupled to the aircraft. Thelocation sensor is configured to provide a location feedback signal tothe controller. The controller is configured to create a map of the soilmaterial including a location of the portion of the irrigation systembased on the sensor feedback signal and the location feedback signal.

A further exemplary embodiment relates to a method of operating avehicle including a controller. The vehicle is configured to map soilcharacteristics and plant seeds or plants. The method includes detectingintrinsic soil characteristics of a soil material through a groundpenetrating radar unit coupled to the vehicle, wherein the groundpenetrating radar unit is configured to scan the soil material up to adesignated depth beneath a surface of the soil material, and wherein theground penetrating radar unit is further configured to provide a sensorfeedback signal to a controller with respect to the intrinsic soilcharacteristics. The method further includes, in response to theintrinsic soil characteristics, instructing a planting mechanism coupledto the vehicle to plant a seed or a plant.

Another exemplary embodiment relates to a method of mapping soilcharacteristics with a vehicle having a controller. The method includesreceiving operating parameters through a user input of the vehicle. Themethod further includes navigating the vehicle through a vehicle path.The method further includes detecting intrinsic soil characteristics ofa soil material through a ground penetrating radar unit coupled to thevehicle, wherein the ground penetrating radar unit is configured to scanthe soil material up to a designated depth beneath a surface of the soilmaterial, and wherein the ground penetrating radar unit is furtherconfigured to provide a sensor feedback signal to a controller of thevehicle. The method includes tracking a location of the vehicle througha location sensor coupled to the vehicle. The method further includescreating a map of an area of land traversed by the vehicle, wherein themap includes detected intrinsic soil characteristics, wherein the map isconfigured to be later updated to include the location of a plantedplant or a planted seed.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a an exemplary view of corn planted in soil.

FIG. 2A is a soil detection and planting system according to anexemplary embodiment.

FIG. 2B is a block diagram of a controller of the soil detection andplanting system.

FIG. 3 is a flow diagram of a method of mapping soil characteristics andplanting seeds according to an exemplary embodiment.

FIG. 4A is a stand-alone soil detection and mapping system according toan exemplary embodiment.

FIG. 4B is a block diagram of a controller of the stand-alone soildetection and mapping system.

FIG. 4C is a flow diagram of a method of mapping soil characteristicsaccording to an exemplary embodiment.

FIG. 5A is a stand-alone planting system according to an exemplaryembodiment.

FIG. 5B is a block diagram of a controller of the stand-alone plantingsystem.

FIG. 5C is a flow diagram of a method of planting seeds according to anexemplary embodiment.

FIG. 6A is a stationary soil characteristic detection system accordingto an exemplary embodiment.

FIG. 6B is a schematic view of a system of stationary soilcharacteristic detection systems.

FIG. 7 is an aerial soil characteristic detection system according to anexemplary embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Referring to FIG. 1, a cross-section of an agricultural growingoperation is shown. Corn 101 is planted in soil 102. The agriculturalgrowing operation utilizes delivery pipes 103. Delivery pipes 103provide water, pesticides, nutrients, and/or other chemicals to soil102. Delivery pipes 103 are located at varying distances beneath thesurface of soil 102 or are located on the surface of soil 102. Further,the composition and characteristics of soil 102 varies at differentlocations. For example, soil 102 may contain varying amounts of rocks104, soil water 105, nutrients, pesticides, humus, and other elements orobjects. Optimal seed placement varies with location along the surfaceof soil 102. For example, a farmer does not wish to plant seeds in themiddle of sub-surface rocks, but does wish to plant seeds at a depthsuch that roots of the plants will reach sub-surface water containedwithin soil 102 or within percolation distance from delivery pipes 103.Further, it is desirable to plant seeds such that agricultural machinery(e.g., planters, tillers, combines, etc.) will not damage placeddelivery pipes 103.

Referring to FIG. 2, a soil characteristic mapping and planting system200 is shown according to an exemplary embodiment. System 200 includes aground-driven vehicle 201 and a planting device 202. Although system 200shows planting device 202 as being towed by vehicle 201, planting device202 may be integrated into vehicle 201. Vehicle 201 includes GPSreceiver 203 and a ground or soil sensor, shown as ground penetratingradar unit 204. GPS receiver 203 receives signals from GPS satellites205 and is configured to provide a feedback signal used to track thelocation of vehicle 201. Radar unit 204 utilizes ground penetratingradar to determine intrinsic and extrinsic characteristics of soil 206.Exemplary intrinsic soil characteristics may include a composition ofthe soil material, a water property of the soil (e.g., how much water iscontained in the soil and how deep the water is located), a presence ofhumus in the soil material, a density of the soil material, a soilmaterial porosity, and any other intrinsic characteristics soil 206 mayhave. Exemplary extrinsic soil characteristics may include the presenceof soil 206, the depth of soil 206, an object buried in soil 206 (e.g.,rocks, wood, ore deposits, pipes, etc.), and any other extrinsiccharacteristic of soil 206. Planting device 202 includes a planter 207.Planter 207 is configured to dig a hole or trench in soil 206, place aseed in the hole or trench, and cover the seed with displaced soilmaterial. Planter 207 is depth adjustable such that seeds can be buriedat different depths within soil 206. Planter 207 is controllable suchthat seeds can be placed at various densities (e.g., at a designatednumber of seeds per area planted, on a seed-by-seed basis, etc.). System200 is generally configured to detect soil characteristics through radarunit 204 and adjust planting device 202 based on detected soilcharacteristics. Further, system 200 is configured to generate a map ofsoil 206 by pairing location data from GPS receiver 203 with soilcharacteristic data from radar unit 204. The map created by system 200is a collection of data points coupled to location information, thatwhen processed, may be reproduced into a visual representation of themap (e.g., for viewing by an operator through a display) or a set ofdata and location points for further processing by a system controller(e.g., to properly instruct plant or seed placement). The collected mapdata points may be stored in an R-tree data structure, an array datastructure, or another suitable data structure. The map may be athree-dimensional map. The details of the operation of system 200 aredescribed below.

In one embodiment, radar unit 204 is a non-insertion soil-penetratingradar unit. Alternatively, radar unit includes an antenna that insertsinto soil 206. Radar unit 204 emits electromagnetic radio waves intosoil 206. As the waves travel through soil 206, portions of the wavesare reflected back at different strengths depending on the compositionof soil 206 and the presence and depths of objects within soil 206.Radar unit 204 is capable of detecting the presence and depth of rocks208, soil water 209, buried delivery and/or drainage pipes 210, and anyother objects within soil 206 based on reflected radio wave signatures(i.e., extrinsic characteristics). Radio waves transmitted by radar unit204 are high-frequency waves. For example, the radio waves may havefrequencies between 300 MHz and 3000 MHz or in excess of 3000 MHz. Theutilization of high-frequency radio waves enables radar unit 204 to scansoil 206 at a high resolution such that it can detect soilcharacteristics (e.g., soil composition, soil density), the presence ofsoil water 209, the depth of the soil water 209, the amount of soilwater 209, the presence and type of minerals present in soil 206, thepresence and amount of humus in soil 206, and other soil characteristics(i.e., intrinsic characteristics). More detailed explanations ofutilizing ground penetrating radar to detect soil characteristics can befound in “The Use of Ground-Penetrating Radar to Accurately EstimateSoil Depth in Rocky Forest Soils,” by Sucre et al., “SoilElectromagnetic Mapping for Enhanced GPR Utility Location,” by Thomas etal., and “Soil moisture content estimation using ground-penetratingradar reflection data,” by Lunt et al., each of which are incorporatedherein by reference in their entireties. Radar unit 204 may transmitunmodulated continuous-wave signals that are used to create a plan-viewsubsurface hologram of soil 206. In an alternate configuration,reflection seismology is used to transmit acoustic waves through soil206, and reflected acoustic waves are analyzed to determine thecomposition of soil 206 and the location of objects within soil 206.Radar unit 204 provides feedback signals that include data pertaining todetected soil characteristics to controller 220 (as shown in FIG. 2B),where the data is processed into a three-dimensional map of soil 206.

Referring to FIG. 2B, a block diagram of controller 220 is shown.Controller 220 includes processing circuit 221. Processing circuit 221includes processor 222 and memory 223. Processing circuit 221communicates with GPS receiver 203, radar unit 204, planting device 202,user input 224, user output 225, and network interface 226. Controller220 is powered by power supply 227. Memory 223 stores necessaryprogramming modules that when executed by processor 222, control theoperation of planting device 202 and the creation of thethree-dimensional map of soil 206 based on settings, parameters, andfeedback signals received through user input 224, GPS receiver 203, andradar unit 204. User input 224 is configured to provide an interface fora user to input desired operational parameters for system 200 (e.g.,type of plant seed being placed, desired soil characteristics forplanting, density of planting, etc.). User input 224 includes a seriesof knobs, wheels, multi-position switches, a keyboard, a mouse, or anycombination thereof. User output 225 includes a display. User output 225optionally includes audio output (e.g., for emitting beeps and tones)and/or indicator lights (e.g., LEDs for indicating system 200 statusesand alerts). It is contemplated that user input 224 and user output 225are combined into a touchscreen display such that a user of system 200can program desired settings and parameters through interaction with agraphical user interface presented on the display. Network interface 226is configured to communicate with an external server or an externalcomputing device. Network interface includes at least one of an Ethernetinterface and a wireless transceiver (e.g., Bluetooth, 802.11, etc.).Power supply 227 provides power to controller 220. Power supply 227 mayprovide power to all components of system 200 (e.g., GPS receiver 203,radar unit 204, etc.). Power supply 227 may receive power from anysuitable source (e.g., a rechargeable battery, a non-rechargeablebattery, a generator onboard vehicle 201, an electronic alternatorrunning off of the engine that powers vehicle 201, etc.).

Controller 220 is configured to process feedback signals from GPSreceiver 203 and radar unit 204 based on provided operating parameters.As vehicle 201 moves along soil 206, and controller 220 receivesfeedback signals from radar unit 204 that indicates detected soilcharacteristics and GPS receiver 203 that indicate vehicle 201'slocation. Controller 220 processes these feedback signals into adetailed three-dimensional map of soil 206. The three-dimensional mapincludes location specific information pertaining to the composition ofsoil 206 (e.g., chemical composition, moisture amount, density, humuspresence, etc.), the presence of objects (e.g., buried rocks, pipes,etc.), and other information pertaining to soil 206 up to a specifieddepth beneath the surface of soil 206. The depth parameter of thethree-dimensional map (e.g., one foot beneath the surface, two feetbeneath the surface, etc.) may be a user provided parameter. Controller220 is configured to analyze feedback signals from radar unit 204 tolocate and identify objects underneath the surface of soil 206 (e.g.,rocks, soil water, delivery pipes, etc.). Detected objects areidentified by their radar signatures. For example, radar waves reflectedoff of soil water will have a different signature than radar wavesreflected off of rocks. Controller 220 automatically determines theidentity of objects beneath the surface of soil 206. Alternatively,objects are manually identified and updated on the map through userinput. For example, objects that cannot be automatically identified aremarked as unknown on the map. The user then manually identifies theunknown objects (e.g., by taking a soil sample, by digging the objectout of the soil, etc.). If the user removes the unknown object (e.g., alarge rock is removed from beneath the surface of soil 206), the usermay indicate that the object has been removed, and that it should beremoved from the map. If the object remains in soil 206 (e.g., theobject is a variation in soil composition), the user can identify theobject on the map and the object's identity is stored. Alternatively,the user may choose to have the object remain unidentified.

As vehicle 201 moves along soil 206, controller 220 instructs plantingdevice 202 to plant seeds into soil 206. Planting device 202 is capableof planting seeds at varying depths and densities. Based on userprovided parameters and detected soil conditions, controller 220instructs planting device 202 to deposit seeds at specific locations andat specific depths. For example, controller 220 may instruct planter 207such that seeds are placed in desirable locations (e.g., nutrient richlocations, locations with soil water, locations within water percolationdistance from underground irrigation systems, locations havingsubsurface materials placed for water retention, etc.) and are notplaced in undesirable locations (e.g., locations with a high density ofrocks, locations with little or no soil water, locations out of waterpercolation distance from underground irrigation systems, locations withinsufficient soil depth, etc.). Planter 207 is further adjusted suchthat certain objects are not damaged (e.g., such that planter does notcontact and damage pipe 210). Upon the successful placement of a seed byplanting device 202, controller updates the map of soil 206 to indicatethe placement of the seed (e.g., marks the map with an indication of theseed's placement). The created map may be exported to an externalcomputing device via network interface 226, stored in memory 223, orstored on removable storage media (e.g., SD memory card, MicroSD memorycard, USB flash memory, etc.). The user can then reference the createdmap after soil 206 has been mapped and/or after seeds have been planted.

Referring to FIG. 3, a method of operating a system configured to plantseeds and create a map of an area planted based on detected soilcharacteristics (e.g., system 200) is shown according to an exemplaryembodiment. The system includes a vehicle configured to map soilcharacteristics and plant seeds. The user programs operating parametersinto the system (step 301). The operating parameters include plantingparameters. The planting parameters include any of the type of plantseed being placed, desired seed placement characteristics (e.g., depthbeneath the surface, proximity to water supply, soil composition),designated soil attributes to avoid or target (e.g., a threshold levelof a detected substance to avoid, a threshold level of detectedsubstance to plant in, etc.), seed placement density, future processingstrategy (e.g., fertilizing strategy, watering strategy, target harvestdate, etc.), and any other desired planting parameters. For example, auser may indicate that seeds are not to be placed in soil containing athreshold percentage of rocks, but that seeds are to be placed in soilcontaining a threshold level of soil water. Further, the user canindicate seeds are to be placed at designated detected locations (e.g.,within percolation distance of irrigation systems, locations havingsubsurface materials placed for water retention, etc.) and are not to beplaced in designated detected locations (e.g., on top of a buried pipe).The user can further provide a previously created map of the area to beplanted to the system. The map includes a collection of data pointscoupled to location information, that when processed, may be reproducedinto a visual representation of the map (e.g., for viewing by anoperator through a display) or a set of data and location points for useby a system controller (e.g., to determine proper seed placement). Thecollected map data points may be stored in an R-tree data structure, anarray data structure, or another suitable data structure. The map may bea three-dimensional map. The provided map includes informationpertaining to the layout of the area to be planted and other information(e.g., the location of underground liquid delivery systems, thelocations of buried rocks, the locations of previous seed locations,information pertaining to soil composition, etc.). The user provides theplanting parameters to the system through a user input. The user inputincludes a series of knobs, wheels, multi-position switches, a keyboard,a mouse, a touchscreen display, or any combination thereof. A user canprogram planting parameters on an external computing device (e.g., acomputer, a smartphone, a PDA, a tablet, etc.), and upload the plantingparameters to the vehicle's controller. The upload may occur via anad-hoc network connection between the vehicle's controller and theexternal computing device, by providing removable storage media (e.g.,SD Card, USB flash drive, etc.), or by downloading the parameters from ahost server.

In some instances, the vehicle may be at least partially autonomous andcapable of navigating a predefined planting pattern based on locationfeedback from the on-board GPS sensor and computerized control of thevehicle's throttle and steering mechanisms. In such an arrangement, theuser provided parameters include a detailed planting pattern over adesignated area of land, such as a predefined vehicle path. The userprovides the planting pattern by inputting a vehicle path overlay on ascreen representing the area of land to be planted through a user input.Alternatively, the user may select a template vehicle path from a set ofpredefined vehicle path templates (e.g., a template corresponding torows forming a rectangle, a template corresponding to rows forming asquare, a template corresponding to rows forming a triangle, etc.). Uponselection of the vehicle path template, the system analyzes theselection, analyzes the land to be planted, and processes a suggestedvehicle path according to the template and the specific land parameters(e.g., the size of the land, the presence of any trees, the presence ofany lakes, etc.). The suggested path maximizes the number of plants tobe planted with the designated pattern on the land to be planted. Thesuggested vehicle path is presented to the user for verification. Theuser can then accept, reject, or modify the suggested vehicle path(e.g., change a portion of the suggested vehicle path). If the useraccepts or modifies the suggested vehicle path, the system beginsautonomous operation of the vehicle by tracking the location of thevehicle through the GPS receiver and making steering and throttleadjustments such that the vehicle remains on the vehicle path.

Further referring to FIG. 3, the user then navigates the vehicle throughthe planting pattern (step 302). The vehicle path is displayed to theuser such that the user can manually operate the vehicle to follow thepath. Alternatively, if the vehicle is at least partially autonomous,the user instructs the vehicle to begin the planting and mappingprocess. As the vehicle follows the planting pattern, the vehicle isconfigured to detect soil characteristics and chart the detected soilcharacteristics on a map (step 303). The vehicle includes asoil-penetrating radar unit (e.g., an insertion radar unit or anon-insertion radar unit). The radar unit detects the presence and depthof rocks, soil water, buried materials (e.g., materials buried to helpretain water in the soil), delivery and/or drainage pipes, and any otherobjects within the soil or on the surface of the soil (i.e., extrinsicsoil characteristics). The radar unit emits radio waves having ahigh-frequency waves (e.g., frequencies between 300 MHz and 3000 MHz,frequencies in excess of 3000 MHz, etc.) into the soil. The radar unitutilizes reflected wave data to create a series of high resolution scansof the soil (e.g., depth slices, time slices, three-dimensional imageblocks, etc.), and to detect changes in soil characteristics (e.g., soilcomposition, soil density), the presence of soil water, the depth of thesoil water, the amount of soil water, the presence and type of mineralspresent in soil, the presence and amount of humus in soil, and othersoil characteristics (i.e., intrinsic soil characteristics). In analternate configuration, the radar unit transmits unmodulatedcontinuous-wave signals that are used to create a plan-view subsurfacehologram of soil. In another alternate configuration, reflectionseismology may be used to transmit acoustic waves through soil, andreflected acoustic waves are analyzed to determine the composition ofsoil and the location of objects within soil. The radar unit providesfeedback signals including data relating to the captured radar scans tothe controller of the vehicle. While the radar unit scans the soil, aGPS receiver of the vehicle tracks the location of the vehicle andprovides feedback signals to the controller indicating the location ofthe vehicle. The controller combines the radar scan information withinformation from the GPS receiver to create a map of the area traversedby the vehicle. The map created by the system is a collection of datapoints coupled to location information, that when processed, may bereproduced into a visual representation of the map (e.g., for viewing byan operator through a display) or a set of data and location points foruse by a system controller (e.g., to properly determine plant or seedplacement). The collected map data points may be stored in an R-treedata structure, an array data structure, or another suitable datastructure. The map may be a three-dimensional map. The map has a highresolution such that a viewer or the vehicle can determine soilcharacteristics on a plant-by-plant basis (i.e., soil characteristicsare charted at the location of each plant or seed placement) or on asub-plant spacing basis (i.e., soil characteristics are charted evenwhere no plants or seeds are to be planted).

As the vehicle navigates along the vehicle path, the vehicle plantsseeds according to the programmed parameters (step 304). The controllerof the vehicle sends instructions to a planting mechanism of thevehicle. The controller instructs the planting mechanism to place seedson an individual seed basis (e.g., one-by-one) at designated locations.The designated locations are determined based on at least one offeedback received from the radar unit and the user provided plantingparameters. The user may indicate that seeds are to be placed along thedesignated planting pattern regardless of detected soil characteristics.Alternatively, a user indicates that seeds are to be placed along adesignated planting pattern only if satisfactory soil characteristicsare detected. For example, a user may indicate that the controller is toinstruct seed placement in soil containing a threshold level ofnutrients, a threshold level of soil water, within a percolationdistance of an irrigation system, at locations including subsurfacematerials placed for water retention, etc. In yet another alternativeembodiment, a user indicates that seeds are to be placed along adesignated planting pattern unless unsatisfactory soil characteristicsare detected. For example, the user may not wish to place seeds in soilcontaining a threshold amount of rocks, in soil out of the percolationdistance of an irrigation system, in soil lacking appropriate levels ofminerals or humus, etc. The controller further instructs the plantingmechanism to place the seeds according to a specified depth. The depthis set by the user as part of the provided parameters (provided in step301). Alternatively, the controller may automatically adjust depth basedon the type of seed being planted and/or the detected characteristics ofthe soil. The depth may be adjusted to avoid incidental contact andamage with equipment on the farm land, to avoid placement of seeds inundesirable areas, or to target certain depths to plant seeds withindesirable areas (e.g., to avoid groupings of rocks, to avoid irrigationpipes, to target areas of soil water, etc.). Each seed's placement isindividually charted on the map, or groupings of seeds are marked asbeing planted in a planting pattern on the map (e.g., the controllerplaces an indication on the map pertaining to the location of a row ofcorn seeds).

After placement of the seeds is complete, the user indicates to thecontroller of the vehicle that the planting pattern is finished (step305). Alternatively, if the vehicle is at least partially autonomous,the vehicle indicates to the user that the pattern is complete. The useris then alerted to the presence of any unidentified objects detectedwithin the soil (step 306). The controller of the vehicle is configuredto analyze and identify objects beneath the surface of the soil based onthe objects' radar signatures. In some situations, the controller maynot be able to determine an object's identity. Accordingly, thecontroller alerts the user of the unidentified object's presence througha user output mechanism (e.g., a display) of the vehicle. The user canthen input the identity of the object such that the object is marked andnoted on the map through a user input mechanism of the vehicle (step307). Alternatively, the user can ignore the alert and the object willremain on the map as unidentified or delete the unidentified object(e.g., if the user locates and removes the object from the soil). If nounidentified objects are detected, step 307 is skipped.

After any unidentified objects are identified or removed, the map may besaved and exported (step 308). The created map indicating the detectedsoil characteristics and plant seed placement is stored in memoryassociated with the controller of the system. The created map may beexported to an external computing device via a network interface orstored on removable storage media (e.g., SD memory card, MicroSD memorycard, USB flash memory, etc.). The user can then access the map on anexternal computing device. For example, the map may be beneficial forpredicting future harvest yields, for identifying areas of soil thatrequire additional irrigation or fertilization, for identifying areas ofsoil containing an abnormal amount of undesirable characteristics thatneed to be fixed (e.g., rocks that need to be removed), and for use infuture planting seasons.

Referring to FIG. 4A, a stand-alone mapping system 400 is shownaccording to an exemplary embodiment. System 400 includes vehicle 401(shown as a pickup truck) and mapping unit 402. Mapping unit 402 is anattachment to vehicle 401 (e.g., configured to fit into a bed of apickup truck, towed by another vehicle, etc.). Although mapping unit 402is shown as an attachment to vehicle 401, it should be understood that amapping unit 402 may be fully integrated into a vehicle. Mapping unit402 includes GPS receiver 403 and a soil sensor, shown as groundpenetrating radar unit 404 coupled to the housing of mapping unit 402.GPS receiver 403 receives signals from GPS satellites 405 and isconfigured to provide a feedback signal used to track the location ofvehicle mapping unit 402. In alternative embodiments, other locationsensors can be employed instead of, or in conjunction with, GPS. Forinstance, mapping unit 402 can include inertial navigation equipment,which is initialized with respect to a field reference site, and whichmay be updated during the mapping/planting session. In anotherembodiment, mapping unit 402 can interact with a local metrology system,e.g., RF or, optical navigation beacons set up in the vicinity of thefield being traversed. Radar unit 404 utilizes ground penetrating radarto determine intrinsic and extrinsic characteristics of soil 406. Radarunit 404 is similar to radar unit 204 of system 200. Accordingly, radarunit 404 is a non-insertion soil-penetrating radar unit or an insertionradar unit and emits radar waves into soil 406. As the waves travelthrough soil 406, portions of the waves reflect back at differentstrengths depending on the composition of soil 406 and the presence anddepths of objects within soil 406. Radar unit 404 is capable ofdetecting the presence and depth of objects and characteristics of soil406. Radio waves transmitted by radar unit 404 are high-frequency waves(e.g., radio waves having frequencies between 300 MHz and 3000 MHz,radio waves having frequencies in excess of 3000 MHz, etc.). Radar unit404 may transmit unmodulated continuous-wave signals that are used tocreate a plan-view subsurface hologram of soil 406. In another alternateconfiguration, reflection seismology is used to transmit acoustic wavesthrough soil 406, and reflected acoustic waves are analyzed to determinethe composition of soil 406 and the location of objects within soil 406.Radar unit 403 provides feedback signals that include data pertaining tothe detected soil characteristics to controller 410 (shown in FIG. 4B).Mapping unit 402 is generally configured to detect characteristics ofsoil 406 through radar unit 404 and generate a map of soil 406 bypairing location data from GPS receiver 403 with soil characteristicdata from radar unit 404. The map created by system 400 is a collectionof data points coupled to location information, that when processed, maybe reproduced into a visual representation of the map (e.g., for viewingby an operator through a display) or a set of data and location pointsfor use by another system (e.g., to determine proper plant or seedplacement). The collected map data points may be stored in an R-treedata structure, an array data structure, or another suitable datastructure. The map may be a three-dimensional map.

Referring to FIG. 4B, a block diagram of controller 410 is shown inaccordance with an exemplary embodiment. Controller 410 controls theoperation of mapping unit 402. Controller 410 includes processingcircuit 411. Processing circuit 411 includes processor 412 and memory413. Processing circuit 411 communicates with GPS receiver 403, radarunit 404, user input 414, user output 415, and network interface 416.Controller 410 is powered by power supply 417. Memory 413 storesnecessary programming modules that when executed by processor 412,control the operation of mapping unit 402 and the creation of athree-dimensional map of soil 406 based on settings, parameters, andfeedback received through user input 414, GPS receiver 403, and radarunit 404. User input 414 is configured to provide an interface for auser to input desired mapping parameters for system 400 (e.g., size ofarea to be mapped, type of soil to be mapped, sensitivity level of radarunit 404, etc.). User input 414 includes a series of knobs, wheels,multi-position switches, a keyboard, a mouse, or any combinationthereof. User output 415 includes a display. User output 415 optionallyincludes audio output (e.g., for emitting beeps and tones) and indicatorlights (e.g., LEDs for indicating system 400 statuses and alerts). It iscontemplated that user input 414 and user output 415 are combined into atouchscreen display that displays an interactive graphical userinterface such that a user of system 400 can program desired settingsand parameters through interaction with the display. Network interface416 is configured to communicate with an external server or an externalcomputing device. Network interface includes at least one of an Ethernetinterface and a wireless transceiver (e.g., Bluetooth, 802.11, etc.). Anexternal computing device remote from controller 410 can provide aninterface for a user to input desired mapping parameters for system 400and to control system 400 (e.g., a portable computing device located inthe passenger compartment of vehicle 401). In this arrangement, theexternal computing device transmits user provided input to controller410 through network interface 416 and receives system 400 outputtransmitted by network interface 416. Power supply 417 may receive powerfrom any suitable source (e.g., a rechargeable battery, anon-rechargeable battery, a generator onboard vehicle 401, an electronicalternator running off of the engine that powers vehicle 401). Powersupply 417 may provide operational power to all components of mappingunit 402, including GPS receiver 403, radar unit 404, user input 414,and user output 415.

As in system 200, controller 410 of system 400 is configured to processfeedback signals from GPS receiver 403 and radar unit 404 into adetailed map of soil 406. As vehicle 401 moves along soil 406,controller 410 receives feedback signals from radar unit 404 thatindicate characteristics of soil 406 and GPS receiver 403 that indicatethe location of vehicle 401. Controller 410 is configured to processthese feedback signals into a detailed three-dimensional map of soil406. The three-dimensional map includes location specific informationpertaining to the composition of soil 406 (e.g., chemical composition,moisture amount, density, humus presence, etc.), the presence of objects(e.g., buried rocks, pipes, etc.), and other information pertaining tosoil 406 up to a specified depth beneath the surface of soil 406. Thedepth parameter of the three-dimensional map (e.g., one foot beneath thesurface, two feet beneath the surface, etc.) may be a user providedparameter. Controller 410 is configured to analyze feedback signals fromradar unit 404 to locate and identify objects underneath the surface ofsoil 406 (e.g., rocks, soil water, delivery pipes, etc.). Detectedobjects are identified by radar signatures. Controller 410 is configuredto automatically determine the identity of objects beneath the surfaceof soil 406. Alternatively, objects are manually identified and updatedon the map through user interaction. For example, controller 410 may notbe able to ascertain the identity of a detected object orcharacteristic. Accordingly, the user may be alerted of an unidentifiedobject's location such that the user can manually identify the object,clear the object from the map, or leave the object as unidentified onthe map. The created map can be exported to an external computing devicevia network interface 416 or be stored on removable storage media (e.g.,SD memory card, MicroSD memory card, USB flash memory, etc.). The usercan then reference the created map for assistance during future soilprocessing operations (e.g., planting, harvesting, tilling, objectextraction, etc.).

Referring to FIG. 4C, a method 420 of operating a stand-alone soilmapping system (e.g., system 400) is shown. The user programs operatingparameters into the system (step 421). The operating parameters mayinclude a desired map depth (e.g., a designated number of feet or metersbeneath the surface of the soil) and a map resolution indication. Incertain situations, it is desirable to have a high resolution mapcreated (e.g., a map indicating detected objects and soil characteristicvariances for every inch of lateral or vertical travel). For example, ahigh resolution map is desirable if the map will be used in a precisionplanting operation that requires precise location information fordetected intrinsic and extrinsic soil characteristics. If a highresolution is desired, the radar unit of the system utilizeshigh-frequency radio waves during the mapping process (e.g., in excessof 1000 MHz). In other situations, it may be desirable to have a lowresolution map created (e.g., a map indicating the presence and locationof large objects beneath the surface of the soil, but not other soilcharacteristics such as soil composition). For example, a low resolutionmap may be desirable if the map will only be needed to identify largeobjects located under the soil's surface. If a low resolution isdesired, the radar unit of the system utilizes low-frequency radio wavesduring the mapping process (e.g., less than 1000 MHz). In someconfigurations, the vehicle is at least partially autonomous and iscapable of navigating a predefined mapping pattern based on locationfeedback from the on-board GPS sensor and computerized control of thevehicle's throttle and steering mechanisms. The operating parameters mayinclude a detailed mapping pattern over a designated area of land, suchas a predefined vehicle path. The user may provide the mapping patternby drawing a vehicle path overlay on a screen representing the area ofland to be mapped. Alternatively, the user may select a plot of landfrom a mapping service (e.g., MapQuest, Google Maps, etc.), and thecontroller of the system automatically computes a suggested vehicle pathfor complete mapping of the plot of land. The suggested vehicle path ispresented to the user for verification. The user can then accept,reject, or modify (e.g., change a portion of the suggested vehicle path)the suggested vehicle path. If the user accepts or modifies thesuggested vehicle path, the system is ready to begin autonomousoperation of the vehicle by tracking the location of the vehicle throughthe GPS receiver and making steering and throttle adjustments such thatthe vehicle remains on the vehicle path.

The user begins navigating the vehicle over the area of land to bemapped (e.g., by following the suggested vehicle path) (step 422).Alternatively, if the vehicle is at least partially autonomous, the userinstructs the vehicle to begin the mapping process. As the vehiclefollows the mapping pattern, the vehicle is configured to detect soilcharacteristics and chart the detected soil characteristics on a map(step 423). The vehicle includes a soil-penetrating radar unit. Theradar unit is an insertion radar unit or a non-insertion radar unit. Theradar unit detects the presence and depth of rocks, soil water, burieddelivery and/or drainage pipes, and any other objects within the soil.The radar unit emits high-frequency radio waves (e.g., frequenciesbetween 300 MHz and 3000 MHz, frequencies in excess of 3000 MHz, etc.)into the soil. The radar unit captures a series of high resolution scansof the soil (e.g., depth slices, time slices, three-dimensional imageblocks, etc.), and to detect soil characteristics (e.g., soilcomposition, soil density), the presence of soil water, the depth of thesoil water, the amount of soil water, the presence and type of mineralspresent in soil, the presence and amount of humus in soil, and othersoil characteristics. In an alternate configuration, the radar unittransmits unmodulated continuous-wave signals that are used to create aplan-view subsurface hologram of soil. In another alternateconfiguration, reflection seismology is used to transmit acoustic wavesthrough soil, and reflected acoustic waves are analyzed to determine thecomposition of soil and the location of objects within soil. The radarunit provides feedback signals data relating to captured radar scans tothe controller of the vehicle. The controller combines the radar scaninformation with information from the GPS receiver to create adimensional map of the area traversed by the vehicle. The map created bythe system is a collection of data points coupled to locationinformation, that when processed, may be reproduced into a visualrepresentation of the map (e.g., for viewing by an operator through adisplay) or a set of data and location points for use by a systemcontroller in further processing (e.g., the controller of a system mayprocess the map data to instruct plant or seed placement). The collectedmap data points may be stored in an R-tree data structure, an array datastructure, or another suitable data structure. The map may be athree-dimensional map.

Further referring to FIG. 4C, the user indicates to the vehicle that thesoil to be mapped has been mapped and stops the mapping process (step424). Alternatively, in the case of an at least partially autonomousvehicle, the vehicle indicates to the user that the pattern is complete.Upon completion, the user is alerted to the presence of any unidentifiedobjects detected within the soil (step 425). The controller of thevehicle is configured to analyze and identify objects beneath thesurface of the soil based on the objects' radar signatures. Thecontroller may not be able to determine every detected object'sidentity. Accordingly, the controller alerts the user of the vehicle toany unidentified object's presence. The user can then input the identityof the object such that the object is marked and noted on the map (step426). Alternatively, the user can ignore the alert (i.e., the objectremains on the map as an unidentified object) or deletes theunidentified object from the map. If no unidentified objects aredetected, step 425 is skipped.

After the unidentified objects are identified, ignored, or removed, themap is saved and exported (step 427). The created map indicating thedetected soil characteristics is stored in memory associated with thecontroller of the system. The user may wish to save the map for laterviewing and analysis. For example, the map may be beneficial forplotting future planting operations, for identifying areas of soil thatrequire additional irrigation or fertilization, and for identifyingareas of soil containing an abnormal amount of undesirablecharacteristics that need to be fixed (e.g., rocks that need to beremoved). Accordingly, the created map can be exported to an externalcomputing device via a network interface or can be stored on removablestorage media (e.g., SD memory card, MicroSD memory card, USB flashmemory, etc.).

Referring to FIG. 5A, a stand-alone precision planting vehicle 500 isshown in accordance with an exemplary embodiment. Vehicle 500 includesGPS receiver 501 and planting device 502. GPS receiver 501 receivessignals from GPS satellites 503 and is configured to provide a feedbacksignal used to track the location of vehicle 500. Planting device 502 isconfigured to dig a hole or a trench in soil 504, place seeds 505, andcover the seeds with displaced soil material. Planting device 502 isdepth adjustable such that seeds can be buried at different depthswithin soil 504. Planting device 502 is controllable such that seeds canbe placed at various densities (e.g., at a designated number of seedsper area planted, on a seed-by-seed basis, etc.). Vehicle 500 isgenerally configured to precisely plant seeds 505 based on location datareceived from GPS receiver 501, provided planting parameters and soilcharacteristic data received from a provided map of soil 504. Theprovided map is a collection of data points coupled to locationinformation, that when processed, may be reproduced into a visualrepresentation of the map (e.g., for viewing by an operator through adisplay) or a set of data and location points for further processing(e.g., the map data may be processed to determine proper seedplacement). The collected map data points may be stored in an R-treedata structure, an array data structure, or another suitable datastructure. The map may be a three-dimensional map.

Referring to FIG. 5B, a block diagram of controller 510 is shown.Controller 510 generally controls the operation of vehicle 500.Controller 510 includes processing circuit 511. Processing circuit 511includes processor 512 and memory 513. Processing circuit 511communicates with GPS receiver 501, planting device 502, user input 514,user output 515, and network interface 516. Controller 510 is powered bypower supply 517. Memory 513 stores necessary programming modules thatwhen executed by processor 512, control the operation of vehicle 500,including the operation of planting device 502, receiving user input,providing user output, communications over network interface 516, andupdating any provided map data. User input 514 is configured to providean interface for a user to input desired planting parameters for vehicle500 (e.g., type of plant seed being placed, desired soil characteristicsfor planting, density of planting, planting pattern, etc.). User input514 includes a series of knobs, wheels, multi-position switches, akeyboard, a mouse, or any combination thereof. User output 515 includesa display. User output 515 optionally includes audio output (e.g., foremitting beeps and tones) and/or indicator lights (e.g., LEDs forindicating vehicle 500 statuses and alerts). It is contemplated thatuser input 514 and user output 515 are combined into a touchscreendisplay such that a user of vehicle 500 can program desired settings andparameters through interaction with a graphical user interface presentedon the display. Network interface 516 is configured to communicate withan external server or an external computing device. Network interface516 includes at least one of an Ethernet interface and a wirelesstransceiver (e.g., Bluetooth, 802.11, etc.). Power supply 517 providespower to controller 510. Power supply 517 may provide power to allcomponents of vehicle 500 (e.g., GPS receiver 501, planting device 502,etc.). Power supply 517 may receive power from any suitable source(e.g., a rechargeable battery, a non-rechargeable battery, a generatoronboard vehicle 500, an electronic alternator running off of the enginethat powers vehicle 500, etc.).

Controller 510 instructs planting device 502 to place seeds in soil 504based on processed feedback signals from GPS receiver 501 and providedplanting parameters. As vehicle 500 moves along soil 504, controllerprocesses location feedback signals from GPS receiver 501 to track thelocation of vehicle 500. Controller 510 compares the location of vehicle500 to provided map data. The map data pertains to a three-dimensionalmap of soil 504 including location specific information pertaining tothe composition of soil 504, (e.g., chemical composition, moistureamount, density, humus presence, etc.), the presence of objects (e.g.,buried rocks, pipes, etc.), and other information pertaining to soil 504up to a certain depth beneath the surface of soil 206. The map data mayhave been initially created through the use of a soil mapping system(e.g., system 400). The map is received into memory 513 from an externalcomputing device or server through network interface 516 or fromremovable storage media (e.g., SD memory card, MicroSD memory card, USBflash memory, etc.) provided by the user. As vehicle 500 moves alongsoil 504, controller 510 instructs planting device 502 to plant seeds505 into soil 504 at specific locations based on provided plantingparameters and soil conditions contained within map data. For example,controller 510 is configured to adjust planting device 502 such thatseeds are placed in desirable locations (e.g., nutrient rich locations,locations with soil water, locations within water percolation distancefrom underground irrigation systems, locations having subsurfacematerials placed for water retention, etc.) and are not placed inundesirable locations (e.g., locations with a high density of rocks,locations with little or no soil water, locations out of waterpercolation distance from underground irrigation systems, etc.).Additionally, planting device 502 is adjusted such that any desirableunderground objects (e.g., buried irrigation pipes) are not damaged.Upon the successful placement of a seed by planting device 502,controller 510 updates the map of soil 504 to indicate the placement ofthe seed. The modified map may be saved and exported to an externalcomputing device via network interface 516 or stored on removablestorage media (e.g., SD memory card, MicroSD memory card, USB flashmemory, etc.).

Referring to FIG. 5C, a method 520 of precision planting through aplanting system (e.g., vehicle 500) based on provided plantingparameters and map data. The user of the system provides map datapertaining to an area of soil to be planted (step 521). The map datarelates to a three-dimensional map of an area of soil to be planted andincludes location specific information pertaining to the composition ofthe soil, (e.g., chemical composition, moisture composition, density,humus presence, etc.), the presence of objects (e.g., buried rocks,pipes, etc.), and any other information pertaining to soil. The mapincludes this information up to a specified depth beneath the surface ofthe soil. The map data is a collection of data points coupled tolocation information, that when processed, may be reproduced into avisual representation of the map (e.g., for viewing by an operatorthrough a display) or further processed by a controller of the system(e.g., to determine proper seed placement). The collected map datapoints may be stored in an R-tree data structure, an array datastructure, or another suitable data structure. The map may be athree-dimensional map. The map data may have been created through theuse of a soil mapping system (e.g., system 400). The map data isprovided to a controller of the system from an external computing deviceor server through network interface of the controller or with aremovable storage media (e.g., SD memory card, MicroSD memory card, USBflash memory, etc.).

The user programs planting parameters to the precision planting vehicle(step 522). The planting parameters include any of the type of plantseed being placed, desired placement characteristics (e.g., depthbeneath the surface, proximity to water supply, soil composition), seedplacement density, future processing strategy (e.g., fertilizingstrategy, watering strategy, target harvest date, etc.), seed placementstrategy (e.g., rows, circles, etc.), and any other desired plantingparameter. The planting parameters may include threshold levels ofdetected soil characteristics to avoid planting seeds. For example, auser may indicate that seeds are not to be placed in soil containing athreshold percentage or number of rocks. Further, the plantingparameters may include threshold levels of detected soil characteristicsfor seed placement. For example, a user may indicate that seeds are tobe placed in soil containing a threshold level of soil water. Further,the user can indicate seeds are to be placed at designated detectedlocations (e.g., within percolation distance of irrigation systems,locations having subsurface materials placed for water retention,) andare not to be placed in designated detected locations (e.g., on top of aburied pipe). The planting parameters may include a subset of theprovided map data indicating that only a portion is to be planted. Theuser provides the planting parameters to the system through a userinput. The user input includes a series of knobs, wheels, multi-positionswitches, a keyboard, a mouse, a touchscreen display, or any combinationthereof. Alternatively, a user programs planting parameters on anexternal computing device (e.g., a computer, a smartphone, a PDA, atablet, etc.) and uploads the planting parameters to the controller. Theupload may occur via an ad-hoc network connection between the controllerand the external computing device, via removable storage media (e.g., SDCard, USB flash drive, etc.), or via downloading the parameters from ahost server. Further, the system may automatically determine plantingparameters based on a user selection of a planting parameter template(e.g., corn rows) and a designated an area of land to be planted. Thetemplate includes preset planting parameters (e.g., type seed, seedplacement depth, proximity to water supply information, desired soilcomposition, seed placement density, seed placement strategy, etc.). Theuser can modify the preset planting parameters of the template.

The controller of the system then processes a planting pattern (step523). The planting pattern is created through processing of the providedplanting parameters and provided map data. The controller of the systemdetermines where seeds should be placed according to the plantingparameters (e.g., in rows, in areas having high nutrient counts, withinpercolation distance from a water supply, etc.). The planting patternmaximizes the number of plants or seeds to be planted with thedesignated pattern on the land to be planted. The controller determinesa vehicle path to accomplish the planting pattern. The vehicle pathminimizes distance traveled by the vehicle and/or planting time. In someinstances, the planting vehicle may be at least partially autonomous andcapable of navigating a predefined planting pattern based on locationfeedback from the on-board GPS sensor and computerized control of thevehicle's throttle and steering mechanisms. Accordingly, the user mayprovide vehicle operating parameters (e.g., maximum speed) and thecontroller's processed vehicle path includes vehicle operatinginstructions (e.g., speeds, where to turn, etc.). In such anarrangement, the controller's processed vehicle path is presented to theuser prior to operation such that the user can accept, reject, or modifythe suggested vehicle path. For example, the user may wish to avoidplanting in certain areas and modify the suggested vehicle pathaccordingly. Alternatively, the user may provide a specified plantingpattern and vehicle path during step 522 (e.g., by drawing a vehiclepath over the provided map data via a user input and by indicating whereseeds are to be placed or how controller is to determine where seeds areto be placed).

Further referring to FIG. 5C, the user navigates the vehicle through theplanting pattern (step 524). The user is presented the processedplanting pattern and vehicle path on a display screen of the vehicle.The user operates the vehicle such that the vehicle approximately tracesthe path displayed on the screen of the vehicle. If the vehicle is atleast partially autonomous, the user instructs the vehicle to begin theplanting process. In either case, as the vehicle follows the plantingpattern, the vehicle is configured to plant seeds in the soil accordingto the processed planting pattern. The controller of the planting systemcommunicates with a planting mechanism of the vehicle and instructs theplanting mechanism to place seeds when the vehicle's determined locationmatches a location of the map data where a seed is to be placed. Thevehicle's location is determined based on feedback received from alocation sensor (e.g., a GPS receiver). The controller is furtherconfigured to adjust parameters of the planting mechanism (e.g., theseed placement depth, the seed placement density, etc.) based on theprocessed planting pattern. As seeds are placed into the soil, the mapdata is updated to include the location of the seed (step 525)

After the planting pattern is completed, the updated map may be saved tomemory of the controller of the vehicle and exported (step 526). Theupdated map data includes previously detected soil characteristics andplant seed placement. The map data may be used for future soilprocessing (e.g., fertilization, watering, harvesting, tilling, etc.).Accordingly, the updated map data may be exported to an externalcomputing device via a network interface of the controller or can bestored on removable storage media (e.g., SD memory card, MicroSD memorycard, USB flash memory, etc.). The user can then access the map on anexternal computing device.

Ground mapping systems are not limited to vehicle based systems (e.g.,system 200 and system 400). Referring to FIG. 6A, a stationary groundpenetrating radar system 600 is shown in accordance with an exemplaryembodiment. System 600 includes radar unit 601 mounted on tower 602.Radar unit 601 is configured to detect intrinsic and extrinsiccharacteristics of soil 603 in a similar manner as radar unit 203 ofsystem 200 and radar unit 404 of system 400. Accordingly, radar unit 601utilizes ground penetrating radar to determine characteristics of soil603. As transmitted radar waves travel through soil 603, portions of thewave are reflected back at different strengths depending on thecomposition of soil 603 and the presence and depths of objects withinsoil 603. The radio waves have frequencies between 300 MHz and 3000 MHzor in excess of 3000 MHz. System 600 can detect changes in soilcharacteristics (e.g., soil composition, soil density), the presence ofsoil water, the depth of the soil water, the amount of soil water, thepresence and type of minerals present in soil 603, the presence andamount of humus in soil 603, and other soil characteristics. In analternate configuration, radar unit 601 transmits unmodulatedcontinuous-wave signals that are used to create a plan-view subsurfacehologram of soil 603. In another alternate configuration, reflectionseismology is used to transmit acoustic waves through soil 603, andreflected acoustic waves are analyzed to determine the composition ofsoil 603 and the location of objects within soil 603. Feedback signalsfrom radar unit 601 are provided to a controller similar to controllerincluding a processing circuit having a processor and memory (similar tocontroller 220 and controller 410).

Radar unit 601 of system 600 is stationary, and therefore has a limitedand relatively static area of detection (see circles 604 of FIG. 6B).Referring to FIG. 6B, an exemplary layout of soil 603 is shown. Toachieve proper coverage of an area of soil 603, a user can installmultiple systems to cover the area. The areas of detection may be madeto overlap to ensure maximum coverage. Each system 600 reports detectedsoil characteristic data from the respective area of detection on aregular schedule or on demand. The reported soil characteristics aresent to a central controller or computing device. Alternatively, eachsystem stores detected data, and a user manually collects the data(e.g., by downloading data through a network interface in communicationwith the individual controller of each system 600, by downloading datafrom each system onto a removable storage medium, etc.).

In addition to generating pre-planting operation map data (as performedin system 400), a grouping of system 600 towers (as shown in FIG. 6B)can advantageously provide regularly updating soil characteristics. Forexample, it is contemplated that a system of watering sprinklers can becontrolled by a controller that receives regular feedback indicating themoisture content of soil 603. Accordingly, sprinklers are activated onlywhen the detected soil moisture level falls below a designated thresholdvalue. Such a watering system may reduce the amount of water used whencompared to sprinkler system activated according to a schedule. Further,as an additional example, it is contemplated that a user can configurealerts or notifications as to when nutrients in soil 603 and pesticidesin soil 603 are depleted, and the precise locations of the depletions.Accordingly, the user is alerted when additional fertilizer orpesticides need to be placed.

Referring to FIG. 7, an air-based soil characteristic detection system700 is shown in accordance with an exemplary embodiment. System 700includes airplane 701 having radar unit 702 and GPS receiver 703.Although FIG. 7 is drawn as using airplane 701, any suitable aircraftconfigured to detect and map intrinsic and extrinsic soilcharacteristics (e.g., a helicopter, a plane, a balloon, a flying drone,etc.) may be used as part of an air-based soil characteristic detectionsystem. System 700 functions in a similar manner to system 200 andsystem 400. GPS receiver 703 receives signals from GPS satellites 203enabling a controller of system 700 to accurately track the location ofairplane 701. The controller of system 700 is similar to controller 220and controller 410. The controller of system 700 includes at least aprocessing circuit having a processor and memory. Radar unit 702utilizes ground penetrating radar to determine characteristics of soil705. As in system 200 and system 400, the controller of system 700 isconfigured to process feedback signals from GPS receiver 703 and radarunit 702 into a detailed map of soil 705. As airplane 701 flies oversoil 705, the controller receives feedback signals from radar unit 702and GPS receiver 703.

The controller is configured to process the received feedback signals tocreate a detailed map of soil 705. The map created by system 700 is acollection of data points coupled to location information, that whenprocessed, may be reproduced into a visual representation of the map(e.g., for viewing by an operator through a display) or a set of dataand location points for further processing by a system controller (e.g.,to determine proper seed placement). The collected map data points maybe stored in an R-tree data structure, an array data structure, oranother suitable data structure. The map may be a three-dimensional map.The three-dimensional map includes location specific informationpertaining to the composition of soil 705 (e.g., chemical composition,moisture composition, density, humus presence, etc.), the presence ofobjects (e.g., buried rocks, pipes, etc.), and other informationpertaining to soil 705 up to a certain depth beneath the surface of soil705. The depth parameter of the three-dimensional map (e.g., one footbeneath the surface, two feet beneath the surface, etc.) may be a userprovided parameter. The controller is configured to analyze feedbacksignals from radar unit 702 to locate and identify objects underneaththe surface of soil 705 (e.g., rocks, soil water, delivery pipes, etc.).Detected objects are identified by radar signatures in the same manneras described above with respect to system 200 and system 400. Thecreated map can be exported to an external computing device via anetwork interface of the controller or stored on removable storage media(e.g., SD memory card, MicroSD memory card, USB flash memory, etc.). Theuser can then reference the created map for assistance during futuresoil processing operations (e.g., planting, harvesting, tilling, objectextraction, etc.).

Airplane 701 further includes spraying device 706. Spraying device 706is configured to spray liquids (e.g., chemicals, water, pesticides,fertilizer, etc.) onto soil 705 as airplane 701 flies over soil 705. Itis contemplated that the controller of system 700 is configured to spraythe liquids at precise locations based on detected soil characteristics.For example, if the controller determines that an area of soil requiresspraying of a chemical based on feedback from radar unit 702, thecontroller can activate spraying device 706 such that the sprayedchemical coats the target area of land. In order to properly determinewhere the sprayed chemical will land, controller receives feedback fromadditional sensors on airplane 701 (e.g., altitude sensor, winddirection sensor, wind speed sensor, air speed indicator, etc.). Afterspraying the liquids, the controller further updates the created mapdata to indicate that the liquid was sprayed at the specific location.

The above systems and methods can be operated as part of a business. Thebusiness offers soil mapping services to customers. Customers canpurchase individual maps of an area of soil. Alternatively, customerscan subscribe to recurring maps (e.g., a new map every growing season, anew map every month, etc.). The maps can be used for soil operations(e.g., planting operations, harvesting operations, tilling operations,etc.). Additionally, the maps can be used to assist with constructionand placement of irrigation systems. Further, customers can purchaseprecision planting of fields. The business can use detected soilcharacteristics to maximize crop yield and minimize costs (e.g.,fertilizer costs, pesticide costs, watering costs) through strategicplacement. The business may further lease soil mapping and/or precisionplanting equipment to its customers. All of the above mentioned servicesare provided to customers for a fee.

Although the above systems and methods refer to the planting of seeds,it should be understood that the above systems and methods may be usedto plant plants at various stages in development. Accordingly, insteadof a seed planting mechanism (e.g. planting device 202 or plantingdevice 502), a plant planting mechanism can place plants of variouslevels of plant maturity (e.g., seedlings, juvenile plants, adultplants, etc.) in specified and precise locations.

The construction and arrangement of the systems and methods as shown inthe exemplary embodiments are illustrative only. Although only a fewembodiments of the present disclosure have been described in detail,those skilled in the art who review this disclosure will readilyappreciate that many modifications are possible (e.g., variations insizes, dimensions, structures, shapes and proportions of the variouselements, values of parameters, mounting arrangements, use of materials,colors, orientations, etc.) without materially departing from the novelteachings and advantages of the subject matter recited. For example,elements shown as integrally formed may be constructed of multiple partsor elements. The elements and/or assemblies of the enclosure may beconstructed from any of a wide variety of materials that providesufficient strength or durability, and in any of a wide variety ofcolors, textures, and combinations. Additionally, in the subjectdescription, the word “exemplary” is used to mean serving as an example,instance, or illustration. Any embodiment or design described herein as“exemplary” is not necessarily to be construed as preferred oradvantageous over other embodiments or designs. Rather, use of the word“exemplary” is intended to present concepts in a concrete manner.Accordingly, all such modifications are intended to be included withinthe scope of the present inventions. The order or sequence of anyprocess or method steps may be varied or re-sequenced according toalternative embodiments. Any means-plus-function clause is intended tocover the structures described herein as performing the recited functionand not only structural equivalents but also equivalent structures.Other substitutions, modifications, changes, and omissions may be madein the design, operating conditions, and arrangement of the preferredand other exemplary embodiments without departing from scope of thepresent disclosure or from the spirit of the appended claims.

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures, and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

Although the figures may show a specific order of method steps, theorder of the steps may differ from what is depicted. Also two or moresteps may be performed concurrently or with partial concurrence. Suchvariation will depend on the software and hardware systems chosen and ondesigner choice. All such variations are within the scope of thedisclosure. Likewise, software implementations could be accomplishedwith standard programming techniques with rule based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps, and decision steps.

What is claimed is:
 1. A soil detection apparatus comprising: a housing;a controller; a non-contact soil sensor coupled to the housing, thenon-contact soil sensor configured to scan a soil material and toprovide a sensor feedback signal to the controller with respect to acharacteristic of the soil material; and a location sensor configured toprovide a location feedback signal to the controller; wherein thecontroller is configured to create a map of the soil material based onthe sensor feedback signal and the location feedback signal.
 2. Theapparatus of claim 1, wherein the soil characteristic is an intrinsiccharacteristic of the soil material comprising at least one of acomposition of the soil material, a water property of the soil material,a presence of humus in the soil material, a density of the soilmaterial, and a soil material porosity.
 3. The apparatus of claim 1,wherein the controller analyzes the location feedback signal todetermine a specific location of the soil characteristic.
 4. Theapparatus of claim 3, wherein the controller indicates the soilcharacteristic on the map at the specific location.
 5. The apparatus ofclaim 1, wherein the characteristic is an extrinsic characteristic ofthe soil material.
 6. The apparatus of claim 5, wherein the extrinsiccharacteristic comprises a presence of the soil material.
 7. Theapparatus of claim 5, wherein the extrinsic characteristic comprises adepth of the soil material.
 8. The apparatus of claim 5, wherein theextrinsic characteristic comprises a presence of an object beneath thesurface of the soil material.
 9. The apparatus of claim 8, wherein thecontroller identifies the object based on the sensor feedback signal.10. The apparatus of claim 5, wherein the controller analyzes thelocation feedback signal to determine a specific location of theextrinsic soil characteristic.
 11. The apparatus of claim 10, whereinthe controller updates the map with an indication of a location of theextrinsic soil characteristic.
 12. The apparatus of claim 1, wherein thehousing is configured to be mounted in a bed of a pickup truck.
 13. Theapparatus of claim 1, wherein the housing is part of the ground-drivenvehicle.
 14. An air-based soil detection apparatus comprising: anaircraft; a controller; a soil sensor coupled to the aircraft, the soilsensor configured to locate at least a portion of an irrigation systemcontained within a soil material or on a surface of the soil material,wherein the soil sensor is further configured to provide a sensorfeedback signal relating to the detected portion of the irrigationsystem to the controller; and a location sensor coupled to the aircraft,the location sensor configured to provide a location feedback signal tothe controller; wherein the controller is configured to create a map ofthe soil material including a location of the portion of the irrigationsystem based on the sensor feedback signal and the location feedbacksignal.
 15. The apparatus of claim 14, wherein the soil sensor is aground penetrating radar unit that emits electromagnetic radio wavesinto the soil material.
 16. The apparatus of claim 14, wherein the soilsensor is a reflection seismology sensor that transmits acoustic wavesinto the soil material.
 17. The apparatus of claim 14, wherein theaircraft is an airplane.
 18. The apparatus of claim 14, furthercomprising a spraying device coupled to the aircraft.
 19. The apparatusof claim 18, wherein the controller instructs the spraying device tospray a liquid over a target area of land.
 20. The apparatus of claim19, wherein the controller updates the map with an indication of alocation of the liquid.
 21. The apparatus of claim 14, further includingmemory coupled to the controller, wherein the controller stores the mapin the memory.
 22. The apparatus of claim 14, further comprising anetwork interface coupled to the controller.
 23. The apparatus of claim22, wherein the controller exports the map to an external computingdevice through the network interface.
 24. A apparatus comprising: avehicle; a controller; a soil sensor coupled to the vehicle, the soilsensor configured to locate at least a portion of an irrigation systemcontained within a soil material or on a surface of the soil material,wherein the soil sensor is further configured to provide a sensorfeedback signal relating to the detected portion of the irrigationsystem to the controller; and a location sensor coupled to the vehicle,the location sensor configured to provide a location feedback signal tothe controller; wherein the controller is configured to create a map ofthe soil material including a location of the portion of the irrigationsystem based on the sensor feedback signal and the location feedbacksignal.
 25. The apparatus of claim 24, wherein the soil sensor is aground penetrating radar unit that emits electromagnetic radio wavesinto the soil material.
 26. The apparatus of claim 24, wherein the soilsensor is a reflection seismology sensor that transmits acoustic wavesinto the soil material.
 27. The apparatus of claim 24, wherein thevehicle is an airplane.
 28. The apparatus of claim 24, wherein thevehicle is a ground-driven vehicle.
 29. The apparatus of claim 24,further comprising a spraying device coupled to the vehicle.
 30. Theapparatus of claim 24, wherein the controller instructs the sprayingdevice to spray a liquid over a target area of land.
 31. The apparatusof claim 30, wherein the controller updates the map with an indicationof a location of the liquid.
 32. The apparatus of claim 24, furtherincluding memory coupled to the controller, wherein the controllerstores the map in the memory.
 33. The apparatus of claim 24, furthercomprising a network interface coupled to the controller.
 34. Theapparatus of claim 24, wherein the controller exports the map to anexternal computing device through the network interface.
 35. A soildetection and planting apparatus comprising: a vehicle; a controller; aplanting device coupled to the vehicle, the planting device configuredto plant seeds or plants into a soil material at varying depths; anon-contact soil sensor in communication with the controller andconfigured to provide a sensor feedback signal to the controller withrespect to a characteristic of the soil material; and wherein thecontroller is configured to: determine a designated planting depth inthe soil material based on the sensor feedback signal, and instructplacement of a seed or a plant into the soil material at the designatedplanting depth by the planting device.